Lecture 3.3. Velocity, motion, force and pressure sensors

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1. Tachogenerator Lecture 3.3 Velocity, motion, force and pressure sensors Figure 2.4.1 Principle of working of Techogenerator[1] Tachogenerator works on the principle of variable reluctance.

1 1. Tachogenerator Lecture 3.3 Velocity, motion, force and pressure sensors Figure Principle of working of Techogenerator[1] Tachogenerator works on the principle of variable reluctance. It consists of an assembly of a toothed wheel and a magnetic circuit as shown in figure Toothed wheel is mounted on the shaft or the element of which angular motion is to be measured. Magnetic circuit comprising of a coil wound on a ferromagnetic material core. As the wheel rotates, the air gap between wheel tooth and magnetic core changes which results in cyclic change in flux linked with the coil. The alternating emf generated is the measure of angular motion. A pulse shaping signal conditioner is used to transform the output into a number of pulses which can be counted by a counter. Page 23

Figure 2.4.2 Construction and working of AC generator An alternating current (AC) generator can also be used as a techognerator. It comprises of rotor coil which rotates with the shaft. Figure 2.4.2 shows the schematic of AC generator.

During this process, an alternating emf is produced which is the measure of the angular velocity of the rotor. In general, these sensors exhibit nonlinearity error of about ± 0.

3 Principle of pyroelectricity These sensors work on the principle of pyroelectricity, which states that a crystal material such as Lithium tantalite generates charge in response to heat flow.

2 Figure Construction and working of AC generator An alternating current (AC) generator can also be used as a techognerator. It comprises of rotor coil which rotates with the shaft. Figure shows the schematic of AC generator. The rotor rotates in the magnetic field produced by a stationary permanent magnet or electromagnet. During this process, an alternating emf is produced which is the measure of the angular velocity of the rotor. In general, these sensors exhibit nonlinearity error of about ± 0.15% and are employed for the rotations up to about rev/min. 2. Pyroelectric sensors Figure Principle of pyroelectricity These sensors work on the principle of pyroelectricity, which states that a crystal material such as Lithium tantalite generates charge in response to heat flow. In presence of an electric field, when such a crystal material heats up, its electrical dipoles line up as shown in figure This is called as polarization. On cooling, the material retains its polarization. In absence of electric field, when this polarized material is subjected to infra red irradiation, its polarization reduces. This phenomenon is the measure of detection of movement of an object. Page 24

figure 2.4.4. Initially the electrodes are in electrical equilibrium with the polarized material. On incident of infra red, the material heats up and reduces its polarization.

3 Figure Construction and working a Pyroelectric sensor Pyroelectric sensor comprises of a thick element of polarized material coated with thin film electrodes on opposite faces as shown in figure Initially the electrodes are in electrical equilibrium with the polarized material. On incident of infra red, the material heats up and reduces its polarization. This leads to charge imbalance at the interface of crystal and electrodes. To balance this disequilibrium, measurement circuit supplies the charge, which is calibrated against the detection of an object or its movement. Applications of Pyroelectric sensors [2] Intrusion detector Optothermal detector Pollution detector Position sensor Solar cell studies Engine analysis Page 25

3. Strain Gauge as force Sensor Figure 2.4.5 Strain gauge based Load cell Strain gauge based sensors work on the principle of change in electrical resistance.

4 3. Strain Gauge as force Sensor Figure Strain gauge based Load cell Strain gauge based sensors work on the principle of change in electrical resistance. When, a mechanical element subjects to a tension or a compression the electric resistance of the material changes. This is used to measure the force acted upon the element. The details regarding the construction of strain gauge transducer are already presented in Lecture 2 of Module 2. Figure shows a strain gauge load cell. It comprises of cylindrical tube to which strain gauges are attached. A load applied on the top collar of the cylinder compress the strain gauge element which changes its electrical resistance. Generally strain gauges are used to measure forces up to 10 MN. The non-linearity and repeatability errors of this transducer are ±0.03% and ±0.02% respectively. Page 26

4. Fluid pressure Chemical, petroleum, power industry often need to

Various types of instruments such as diaphragms, capsules, and bellows

Specially designed strain gauges doped in diaphragms are generally used

2.4.6. Application of pressurized fluid displaces the diaphragm.

5 4. Fluid pressure Chemical, petroleum, power industry often need to monitor fluid pressure. Various types of instruments such as diaphragms, capsules, and bellows are used to monitor the fluid pressure. Specially designed strain gauges doped in diaphragms are generally used to measure the inlet manifold pressure in applications such as automobiles. A typical arrangement of strain gauges on a diaphragm is shown in figure Application of pressurized fluid displaces the diaphragm. This displacement is measured by the stain gauges in terms of radial and/or lateral strains. These strain gauges are connected to form the arms of a Wheatstone bridge. Figure A diaphragm Figure Schematic of Capsule and Bellow Page 27

Figure 2.4.8 Bellow with a LVDT [1] Capsule is formed by combining two corrugated diaphragms. It has enhanced sensitivity in comparison with that of diaphragms. Figure 2.4.7 shows a schematic of a Capsule and a Bellow.

8 shows a typical arrangement of the same. 5. Tactile sensors Figure 2.4.

They are also used in manufacturing of touch display screens of visual display units (VDUs) of CNC machine tools. Figure 2.4.

6 Figure Bellow with a LVDT [1] Capsule is formed by combining two corrugated diaphragms. It has enhanced sensitivity in comparison with that of diaphragms. Figure shows a schematic of a Capsule and a Bellow. A stack of capsules is called as Bellows. Bellows with a LVDT sensor measures the fluid pressure in terms of change in resultant voltage across the secondary coils of LVDT. Figure shows a typical arrangement of the same. 5. Tactile sensors Figure Schematic of a tactile sensor [1] In general, tactile sensors are used to sense the contact of fingertips of a robot with an object. They are also used in manufacturing of touch display screens of visual display units (VDUs) of CNC machine tools. Figure shows the construction of piezo-electric polyvinylidene fluoride (PVDF) based tactile sensor. It has two PVDF layers separated by a soft film which transmits the vibrations. An alternating current is applied to lower PVDF layer which generates vibrations due to reverse piezoelectric effect. These vibrations are transmitted to the upper PVDF layer via soft film. These vibrations cause alternating voltage across the upper PVDF layer. When some Page 28

pressure is applied on the upper PVDF layer the vibrations gets affected and the output voltage changes. This triggers a switch or an action in robots or touch displays. 6.

7 pressure is applied on the upper PVDF layer the vibrations gets affected and the output voltage changes. This triggers a switch or an action in robots or touch displays. 6. Piezoelectric sensor Figure Principle of working of Piezoelectric sensor Piezoelectric sensor is used for the measurement of pressure, acceleration and dynamic-forces such as oscillation, impact, or high speed compression or tension. It contains piezoelectric ionic crystal materials such as Quartz (Figure ). On application of force or pressure these materials get stretched or compressed. During this process, the charge over the material changes and redistributes. One face of the material becomes positively charged and the other negatively charged. The net charge q on the surface is proportional to the amount x by which the charges have been displaced. The displacement is proportion to force. Therefore we can write, q = kx = SF (2.4.1) where k is constant and S is a constant termed the charge sensitivity. 7. Liquid flow Liquid flow is generally measured by applying the Bernoulli s principle of fluid flow through a constriction. The quantity of fluid flow is computed by using the pressure drop measured. The fluid flow volume is proportional to square root of pressure difference at the two ends of the constriction. There are various types of fluid flow measurement devices being used in manufacturing automation such as Orifice plate, Turbine meter etc. Page 29

7.a Orifice plate: Figure 2.4.11 Orifice Plate [1] Figure 2.4.11 shows a schematic of Orifice plate device. It has a disc with a hole at its center, through which the fluid flows.

Orifice plate is inexpensive and simple in construction with no moving parts. It exhibits nonlinear behavior and does not work with slurries. It has accuracy of ± 1.5%. 7.b Turbine meter Figure 2.4.

8 7.a Orifice plate: Figure Orifice Plate [1] Figure shows a schematic of Orifice plate device. It has a disc with a hole at its center, through which the fluid flows. The pressure difference is measured between a point equal to the diameter of the tube upstream and a point equal to the half the diameter downstream. Orifice plate is inexpensive and simple in construction with no moving parts. It exhibits nonlinear behavior and does not work with slurries. It has accuracy of ± 1.5%. 7.b Turbine meter Figure Schematic of turbine meter [1] Turbine flow meter has an accuracy of ±0.3%. It has a multi blade rotor mounted centrally in the pipe along which the flow is to be measured. Figure shows the typical arrangement of the rotor and a magnetic pick up coil. The fluid flow rotates the rotor. Accordingly the magnetic pick up coil counts the number of magnetic pulses generated due to the distortion of magnetic field by the rotor blades. The angular velocity is proportional to the number of pulses and fluid flow is proportional to angular velocity. Page 30

9 8. Fluid level The level of liquid in a vessel or container can be measured, a. directly by monitoring the position of liquid surface b. indirectly by measuring some variable related to the height. Direct measurements involve the use of floats however the indirect methods employ load cells. Potentiometers or LVDT sensors can be used along with the floats to measure the height of fluid column. Force sensed by the load cells is proportional to the height of fluid column. Quiz: 1. PVDF piezoelectric polyvinylidene fluoride is used in the manufacture of sensor. 2. Suggest a suitable sensor to measure the level of sulphuric acid in a storage tank. The sensor must give an electric signal as output. 3. Bellows are more sensitive than capsules. State true or false and justify your answer. 4. State the applications of pyroelectric sensors. References 1. Boltan, W., Mechatronics: electronic control systems in mechanical and electrical engineering, Longman, Singapore, Hossain A. and Rashid M. H., Pyroelectric Detectors and Their Applications, IEEE Trans. on Ind. Appl., 27 (5), , Page 31

LECTURE NOTES ON MECHATRONICS

LECTURE NOTES ON MECHATRONICS PREPARED BY Dr PRAMOD KUMAR PARIDA ASSISTANT PROFESSOR DEPARTMENT OF MECHANICAL ENGINEERING COLLEGE OF ENGINEERING & TECHNOLOGY (BPUT) BHUBANRSWAR 1 P a g e SYLLABUS MECHATRONICS